version: 67.00
glider: 236
mission: 2
dive: 415
start: 12 30 120 14 37 23
data:
$ID,236
$MISSION,2
$DIVE,415
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,180
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72660
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099900002
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,425
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,190
$PITCH_MAX,3920
$C_PITCH,2140
$PITCH_DBAND,0.1
$PITCH_CNV,0.0041299998
$PITCH_GAIN,20
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$ROLL_MIN,670
$ROLL_MAX,3465
$ROLL_DEG,80
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.054945
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,150
$LOITER_D_BOTTOM,250
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,575
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,40.980331
$FG_AHR_24V,105.87312
$PHONE_SUPPLY,2
$PRESSURE_YINT,-170.66119
$PRESSURE_SLOPE,0.00022638284
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,120
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,34
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0043000001
$SEABIRD_T_H,0.00063999998
$SEABIRD_T_I,2.4999999e-05
$SEABIRD_T_J,4.3e-06
$SEABIRD_C_G,-10
$SEABIRD_C_H,1
$SEABIRD_C_I,-0.0020000001
$SEABIRD_C_J,0.00019999999
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,7.0
$SC_NDIVE,1.0
$GPS1,301220,143151,4753.293,-12511.143,1,0.7,4,15.8
$_CALLS,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-58.1
$GPS2,301220,143704,4753.307,-12511.208,3,0.7,4,15.8
$SPEED_LIMITS,0.139,0.180
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,139.6,2803,-20.4,-8.049,-24.07
$D_GRID,157
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6.86,16386,-77.86,-1.25,0.00,761.6,766.1,757.1,170.4,2118.9,0.00,0.00,0,85.19,77.74,0.00,0.00,0.005,0.000,0.000,2513.28,2495.19,2531.38,170.44,2120.44,0,0,0,15.46,30.00,30.00
$GC,85.44,18951,-77.86,-1.25,-80.00,2512.6,2494.9,2530.4,170.2,2120.4,3.78,-6.23,15,117.28,7.25,13.94,4.19,0.008,0.257,0.153,2816.03,2810.06,2822.00,1836.06,663.50,0,0,0,15.51,15.56,15.46
$GC,135.03,1028,-77.86,-1.25,0.00,2815.8,2809.7,2821.9,1835.9,663.7,14.22,-17.02,25,140.78,0.00,0.00,3.58,0.000,0.000,0.056,2817.34,2811.62,2823.06,1835.38,2116.38,0,0,0,30.00,30.00,15.67
$GC,320.10,0,-77.86,-1.25,0.00,2816.0,2810.4,2821.6,1835.9,2115.6,51.49,-20.57,62,321.43,0.00,0.00,0.00,0.000,0.000,0.000,2816.09,2810.44,2821.75,1835.00,2115.06,0,0,0,30.00,30.00,30.00
$GC,500.12,516,-77.86,-1.25,-80.00,2816.4,2810.8,2822.0,1836.1,2116.0,80.27,-12.07,98,505.95,0.00,0.00,4.09,0.000,0.000,0.149,2817.19,2811.56,2822.81,1835.69,662.50,0,0,0,30.00,30.00,15.80
$GC,560.15,1028,-77.86,-1.25,0.00,2816.2,2810.9,2821.6,1835.6,662.7,88.95,-14.95,110,565.89,0.00,0.00,3.53,0.000,0.000,0.053,2816.47,2811.00,2821.94,1835.81,2117.25,0,0,0,30.00,30.00,15.84
$GC,750.17,260,-77.86,-1.25,80.00,2815.8,2810.6,2821.1,1835.6,2117.3,110.96,-10.93,138,754.93,0.00,0.00,3.61,0.000,0.000,0.112,2814.88,2809.50,2820.25,1836.00,3475.44,0,0,0,30.00,30.00,15.86
$GC,840.19,1028,-77.86,-1.25,0.00,2815.9,2810.2,2821.6,1835.8,3475.1,121.18,-11.12,156,844.84,0.00,0.00,3.43,0.000,0.000,0.057,2816.31,2810.12,2822.50,1835.75,2081.38,0,0,0,30.00,30.00,15.88
$GC,1150.21,516,-77.86,-1.25,-80.00,2816.1,2810.2,2821.9,1835.8,2081.4,152.83,-10.89,188,1155.91,0.00,0.00,4.01,0.000,0.000,0.152,2814.69,2809.31,2820.06,1835.75,662.38,0,0,0,30.00,30.00,15.89
$STATE,1185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1185,begin apogee
$GC,1190.68,10243,0.00,-0.25,0.00,2816.0,2810.5,2821.5,1835.9,2219.1,157.67,-13.93,195,1252.94,59.03,1.76,0.08,1.202,0.152,0.220,2497.28,2504.00,2490.56,2081.31,2182.62,0,0,0,12.61,15.85,15.45
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1254.82,10503,77.86,1.25,80.00,2497.9,2504.6,2491.2,2080.6,2183.1,160.59,0.00,201,1328.52,62.61,2.53,3.63,1.166,0.092,0.115,2181.28,2196.19,2166.38,2448.00,3473.50,0,0,0,12.57,15.51,15.21
$GC,1530.44,11303,132.61,1.42,0.00,2174.9,2191.2,2158.6,2447.5,3473.5,148.47,4.21,256,1581.68,45.17,0.22,3.20,1.143,0.081,0.051,1957.41,1979.56,1935.25,2496.06,2178.38,0,0,0,12.42,15.58,15.63
$GC,1886.65,16902,132.61,1.42,-80.00,1950.0,1978.1,1921.9,2495.7,2178.2,122.82,8.54,297,1892.46,0.00,0.00,3.99,0.000,0.000,0.131,1949.12,1977.88,1920.38,2496.12,736.56,0,0,0,30.00,30.00,15.71
$GC,2005.67,17414,132.61,1.42,0.00,1948.6,1975.2,1921.9,2495.6,736.8,110.74,10.51,321,2012.46,0.00,0.00,3.59,0.000,0.000,0.051,1948.69,1975.62,1921.75,2496.25,2224.69,0,0,0,30.00,30.00,15.76
$GC,2311.89,16966,132.61,1.47,-80.00,1947.4,1975.3,1919.6,2495.3,2224.4,87.36,6.42,369,2317.63,0.00,0.00,4.07,0.000,0.000,0.125,1947.75,1975.56,1919.94,2495.81,735.56,0,0,0,30.00,30.00,15.81
$GC,2371.89,11303,170.30,1.58,0.00,1947.1,1974.8,1919.5,2495.6,735.7,84.24,5.41,381,2408.26,30.75,0.16,3.57,1.085,0.090,0.051,1804.66,1835.62,1773.69,2534.81,2226.12,0,0,0,12.57,15.80,15.83
$GC,2586.98,324,170.30,1.60,80.00,1799.5,1834.7,1764.3,2536.1,2226.4,72.36,7.21,424,2592.62,0.00,0.00,3.35,0.000,0.000,0.114,1799.53,1835.19,1763.88,2535.25,3472.50,0,0,0,30.00,30.00,15.74
$GC,2616.93,1092,170.30,1.62,0.00,1798.8,1833.9,1763.7,2535.7,3472.2,70.09,7.55,430,2622.59,0.00,0.00,3.15,0.000,0.000,0.049,1799.09,1834.19,1764.00,2535.94,2176.50,0,0,0,30.00,30.00,15.75
$GC,2801.99,8742,200.15,1.71,-80.00,1798.2,1833.6,1762.8,2536.1,2176.7,58.20,5.96,467,2833.33,25.36,0.00,3.98,1.054,0.000,0.130,1683.03,1717.81,1648.25,2535.50,736.50,0,0,0,12.53,30.00,15.57
$GC,3007.03,11303,242.95,1.84,0.00,1678.8,1715.2,1642.3,2535.8,736.6,47.28,5.05,508,3048.67,35.77,0.31,3.60,1.055,0.065,0.051,1510.91,1547.56,1474.25,2597.06,2226.38,0,0,0,12.44,15.71,15.75
$GC,3227.06,580,242.95,1.89,-80.00,1503.5,1542.9,1464.1,2599.1,2226.3,34.78,6.11,552,3232.91,0.00,0.00,4.14,0.000,0.000,0.125,1503.72,1543.12,1464.31,2599.19,735.38,0,0,0,30.00,30.00,15.69
$GC,3437.18,1092,242.95,1.94,0.00,1502.5,1541.1,1463.9,2599.4,735.4,18.31,6.57,594,3442.84,0.00,0.00,3.60,0.000,0.000,0.052,1503.06,1541.75,1464.38,2597.31,2225.12,0,0,0,30.00,30.00,15.77
$GC,3622.16,10791,347.58,2.25,-80.00,1501.1,1541.2,1461.0,2598.8,2225.8,15.89,0.72,631,3714.94,85.33,0.56,4.22,1.040,0.056,0.124,1082.53,1113.50,1051.56,2698.94,735.75,0,0,0,12.52,15.77,15.32
$GC,3717.69,1028,347.58,2.25,0.00,1082.5,1113.3,1051.7,2698.2,735.9,8.22,16.12,650,3723.49,0.00,0.00,3.68,0.000,0.000,0.049,1082.25,1113.00,1051.50,2698.50,2222.25,0,0,0,30.00,30.00,15.41
$STATE,3747,end climb,SURFACE_DEPTH_REACHED
$STATE,3747,begin surface coast
$STATE,3757,end surface coast,CONTROL_FINISHED_OK
$STATE,3757,begin surface
$SM_CCo,3845.73,62.63,1.007,0,768.0,780.0,756.1,424.85
$SM_CCo,3846.89,0.00,0.016,0,767.6,778.9,756.2,424.97
$SM_CCo,3848.04,0.00,2.676,0,768.0,775.9,760.1,424.86
$SM_GC,0.33,0.00,16.65,0.35,2.676,0.059,0.094,768.0,775.9,760.1,171.6,2075.8,0,0,0,30.36,15.46,15.51
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4758.41,-12630.97,301220,132805
$TCM_TEMP,192.00
$XPDR_PINGS,1,14.0,11.5
$SC_FREEKB,3705440
$HUMID,57.46
$TEMP,9.33
$INTERNAL_PRESSURE,7.85557
$24V_AH,14.29,124.939
$10V_AH,14.76,0.000
$FG_AHR_24Vo,106.007
$FG_AHR_10Vo,41.004
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,491.645,36.115,82.455,203.802,0.250,12.991,2329.282,1817.672,1118.443,0.000,0.000,0.000
$DEVICE_MAMPS,2675.904,256.904,219.840,190.287,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000
$SENSORS,legato,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3788.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.860,0.000,0.000,0.000
$MEM,1100096,45,75752,114
$DATA_FILE_SIZE,25773,658
$CAP_FILE_SIZE,185685,0
$SDSIZE,3918848,3801504
$SDFILEDIR,2101,1
$ERRORS,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301220,154239,4753.314,-12511.124,20,1.0,60,15.8